Motor Vehicle Self-Driving Method and Terminal Device

• US 20200133258A1
• Filed: 12/12/2019
• Published: 04/30/2020
• Est. Priority Date: 06/16/2017
• Status: Active Grant

• Current Assignee: Huawei Technologies Co., Ltd. (Huawei Investment & Holding Co., Ltd.)
• Original Assignee: Huawei Technologies Co., Ltd. (Huawei Investment & Holding Co., Ltd.)
• Inventors: Fu, Jiali, Zhang, Huimin, Huang, Maosheng
• Granted Patent: US 11,243,529 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A motor vehicle self-driving method comprises obtaining a first positioning mode and a first driving route; obtaining second vehicle information of a second motor vehicle, where the second vehicle information includes a second positioning mode and a second driving route; determining whether the first driving route overlaps with the second driving route; when the first driving route overlaps with the second driving route, comparing positioning precision of the first positioning mode with positioning precision of the second positioning mode; determining a positioning mode with higher positioning precision in the first positioning mode and the second positioning mode as a target positioning mode; determining a target driving parameter based on the target positioning mode; and controlling the first motor vehicle and the second motor vehicle to drive based on the target driving parameter.

Claims

1. A motor vehicle self-driving method, implemented by a terminal device, comprising:

obtaining first vehicle information of a first motor vehicle, wherein the first vehicle information comprises a first positioning mode and a first driving route;

obtaining second vehicle information of a second motor vehicle, wherein the second motor vehicle is located in a preset range of the first motor vehicle, wherein the second vehicle information comprises a second positioning mode and a second driving route;

determining that the first driving route overlaps with the second driving route;

comparing a first positioning precision of the first positioning mode with a second positioning precision of the second positioning mode based on determining that the first driving route overlaps with the second driving route;

determining a target positioning mode comprising a higher positioning precision than the first positioning mode and the second positioning mode;

determining a target driving parameter based on the target positioning mode; and

controlling the first motor vehicle and the second motor vehicle to drive based on the target driving parameter.

2. The motor vehicle self-driving method of claim 1, wherein the first vehicle information further comprises first environment data of the first motor vehicle, and wherein the motor vehicle self-driving method further comprises the target driving parameter based based on the target positioning mode and the first environment data when the target positioning mode is the first positioning mode.

3. The motor vehicle self-driving method of claim 1, wherein the second vehicle information further comprises second environment data of the second motor vehicle, and wherein the motor vehicle self-driving method further comprises determining the target driving parameter based on the target positioning mode and the second environment data when the target positioning mode is the second positioning mode.

4. The motor vehicle self-driving method claim 2, wherein determining the target driving parameter based on the target positioning mode and the first environment data when the target positioning mode is the first positioning mode comprises:

determining a first driving parameter based on the target positioning mode;

determining whether the first environment data comprises a preset environment characteristic; and

either determining a first driving parameter offset based on the preset environment characteristic and the first driving parameter when the first environment data comprises the preset environment characteristic, and adding the first driving parameter and the first driving parameter offset to obtain the target driving parameter when the first environment data comprises the preset environment characteristic;

or

using the first driving parameter as the target driving parameter when the first environment data does not comprise the preset environment characteristic.

5. The motor vehicle self-driving method of claim 3, wherein determining the target driving parameter based on the target positioning mode and the second environment data when the target positioning mode is the second positioning mode comprises:

determining a second driving parameter based on the target positioning mode;

determining whether the second environment data comprises a preset environment characteristic; and

either determining a second driving parameter offset based on the preset environment characteristic and the second driving parameter when the second environment data comprises the preset environment characteristic, and adding the second driving parameter and the second driving parameter offset to obtain the target driving parameter when the second environment data comprises the preset environment characteristic;

or

using the second driving parameter as the target driving parameter when the second environment data does not comprise the preset environment characteristic.

6. The motor vehicle self-driving method of claim 2, further comprising:

determining, based on the first environment data, that a vehicle self-driving condition is not met; and

prompting the first motor vehicle and the second motor vehicle to enter a manual driving mode based on determining the vehicle self-driving condition is not met.

7. The motor vehicle self-driving method of claim 3, further comprising:

determining, based on the second environment data, that a vehicle self-driving condition is not met; and

prompting the first motor vehicle and the second motor vehicle to enter a manual driving mode based on determining the vehicle self-driving condition is not met.

8. The motor vehicle self-driving method of claim 1, further comprising:

making a determination the first driving route is separated from the second driving route; and

stopping controlling the first motor vehicle or the second motor vehicle to drive based on the target driving parameter based on the determination that the first driving route is separated from the second driving route.

9. The motor vehicle self-driving method of claim 1, further comprising:

obtaining third vehicle information of a third motor vehicle, wherein the third motor vehicle is located in the preset range of the first motor vehicle, wherein the third vehicle information comprises a third positioning mode and a third driving route;

making a first determination the first driving route overlaps with the third driving route;

comparing a third positioning precision of the target positioning mode with a fourth positioning precision of the third positioning mode based on the first determination the first driving route overlaps with the third driving route;

determining whether the third positioning precision is higher than the fourth positioning precision; and

either controlling the third motor vehicle to drive based on the target driving parameter when the third positioning precision is higher than the fourth positioning precision;

or

determining a current driving parameter based on the third positioning mode when the third positioning precision is lower than the fourth positioning precision; and

controlling the first motor vehicle, the second motor vehicle, and the third motor vehicle to drive based on the current driving parameter when the third positioning precision is lower than the fourth positioning precision.

10. The motor vehicle self-driving method of claim 1, wherein controlling the first motor vehicle and the second motor vehicle to drive based on the target driving parameter comprises:

either making a first determination the target positioning mode is the first positioning mode; and

using the first motor vehicle as a head vehicle and to control the first motor vehicle and the second motor vehicle to drive based on the target driving parameter based on the first determination the target positioning mode is the first positioning mode;

or

making a second determination the target positioning mode is the second positioning mode; and

using the second motor vehicle as the head vehicle and controlling the first motor vehicle and the second motor vehicle to drive based on the target driving parameter based on the second determination the target positioning mode is the second positioning mode.

11. A terminal device, comprising:

a receiver, configured to;

obtain first vehicle information of a first motor vehicle, wherein the first vehicle information comprises a first positioning mode and a first driving route; and

obtain second vehicle information of a second motor vehicle, wherein the second motor vehicle is located in a preset range of the first motor vehicle, and wherein the second vehicle information comprises a second positioning mode and a second driving route; and

a processor coupled to the receiver; and

a memory coupled to the processor and the receiver and storing instructions that, when executed by the processor, cause the terminal device to be configured to;

determine the first driving route overlaps with the second driving route;

compare a first positioning precision of the first positioning mode with a second positioning precision of the second positioning mode based on determining that the first driving route overlaps with the second driving route;

determine a target positioning mode comprising a higher positioning precision than the first positioning mode and the second positioning mode;

determine a target driving parameter based on the target positioning mode; and

control the first motor vehicle and the second motor vehicle to drive based on the target driving parameter.

12. The terminal device of claim 11, wherein the first vehicle information further comprises first environment data of the first motor vehicle, and wherein the instructions further cause the terminal device to be configured to determine the target driving parameter based on the target positioning mode and the first environment data when the target positioning mode is the first positioning mode.

13. The terminal device of claim 11, wherein the second vehicle information further comprises second environment data of the second motor vehicle, and wherein the instructions further cause the terminal device to be configured to determine the target driving parameter based on the target positioning mode and the second environment data when the target positioning mode is the second positioning mode.

14. The terminal device of claim 12, wherein the instructions further cause the terminal device to be configured to:

determine a first driving parameter based on the target positioning mode;

determine whether the first environment data comprises a preset environment characteristic; and

either determine a first driving parameter offset based on the preset environment characteristic and the first driving parameter when the first environment data comprises the preset environment characteristic, and add the first driving parameter and the first driving parameter offset to obtain the target driving parameter when the first environment data comprises the preset environment characteristic;

or

use the first driving parameter as the target driving parameter when the first environment data does not comprise the preset environment characteristic.

15. The terminal device of claim 13, wherein the instructions further cause the terminal device to be configured to:

determine a second driving parameter based on the target positioning mode;

determine whether the second environment data comprises a preset environment characteristic; and

determine the second driving parameter offset based on the preset environment characteristic and the second driving parameter when the second environment data comprises the preset environment characteristic; and

add the second driving parameter and the second driving parameter offset to obtain the target driving parameter when the second environment data comprises the preset environment characteristic;

or

use the second driving parameter as the target driving parameter when the second environment data does not comprise the preset environment characteristic.

16. The terminal device of claim 12, wherein the instructions further cause the terminal device to be configured to:

determine, based on the first environment data, that a vehicle self-driving condition is not met; and

prompt the first motor vehicle and the second motor vehicle to enter a manual driving mode based on determining the vehicle self-driving condition is not met.

17. The terminal device of claim 13, wherein the instructions further cause the terminal device to be configured to:

determine, based on the second environment data, that a vehicle self-driving condition is not met; and

prompt the first motor vehicle and the second motor vehicle to enter a manual driving mode based on determining the vehicle self-driving condition is not met.

18. The terminal device of claim 11, wherein the instructions further cause the terminal device to be configured to:

make a first determination the first driving route is separated from the second driving route; and

stop controlling the first motor vehicle or the second motor vehicle to drive based on the target driving parameter based on the first determination the first driving route is separated from the second driving route.

19. The terminal device of claim 11, wherein the receiver is further configured to obtain third vehicle information of a third motor vehicle, wherein the third motor vehicle is located in the preset range of the first motor vehicle, wherein the third vehicle information comprises a third positioning mode and a third driving route, and wherein the instructions further cause the terminal device to be configured to:

determine the first driving route overlaps with the third driving route;

compare a third positioning precision of the target positioning mode with a fourth positioning precision of the third positioning mode based on determining the first driving route overlaps with the third driving route; and

determine whether the third positioning precision is higher than the fourth positioning precision; and

either control the third motor vehicle to drive based on the target driving parameter when the third positioning precision is higher than the fourth positioning precision;

or

determine a current driving parameter based on the third positioning mode when the third positioning precision is lower than the fourth positioning precision; and

control the first motor vehicle, the second motor vehicle, and the third motor vehicle to drive based on the current driving parameter when the third positioning precision is lower than the fourth positioning precision.

20. The terminal device of a claim 11, wherein the instructions further cause the terminal device to be configured to:

use the first motor vehicle as a head vehicle and control the first motor vehicle and the second motor vehicle to drive based on the target driving parameter when the target positioning mode is the first positioning mode;

or

use the second motor vehicle as the head vehicle and control the first motor vehicle and the second motor vehicle to drive based on the target driving parameter when the target positioning mode is the second positioning mode.